An external recognition device is provided with: a texture region division unit that divides external information into a plurality of texture regions for each texture specified on the basis of the external information acquired from an external information acquisition unit; a parallax generation unit that generates a parallax corresponding to an external depth distance on the basis of the external information; a parallax voting unit that votes for a parallax corresponding to the depth distance of the object determined on the basis of the external information in a voting space having an external depth distance on one axis; an additional parallax voting unit that votes for the additional parallax on the basis of the texture region in the voting space in which the parallax has been voted; and an object detection unit that recognizes the outside by detecting an object on the basis of the number of parallax votes voted in the voting space.

    外部识别装置具备:纹理区域分割部,其按根据从外部信息获取部获取的外部信息而确定的纹理,将外部信息分割为多个纹理区域;视差生成部,其基于外部信息生成与外部的纵深距离对应的视差;视差投票部,其在一个轴上具有外部的纵深距离的投票空间中,对与根据外部信息确定的物体的纵深距离对应的视差进行投票;追加视差投票部,其对投票了视差的投票空间,基于纹理区域对追加的视差进行投票;以及物体探测部,其基于在投票空间中投票的视差的投票数来探测物体,由此识别外部。


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    Title :

    External recognition device and external recognition method


    Additional title:

    外部识别装置及外部识别方法


    Contributors:

    Publication date :

    2025-03-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS




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